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navigation without map?

asked 2011-07-05 03:22:43 -0600

sam gravatar image

updated 2011-08-22 10:02:18 -0600

mjcarroll gravatar image

In navigation tutorial says that "The navigation stack does not require a map to operate".

What it will do?

Does it mean that robot just avoid any obstacles but unknown where it is?

or it means navigation use static map not dynamic map?

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answered 2011-07-05 03:55:50 -0600

Eric Perko gravatar image

The navigation stack does not require an a priori static map to operate.

That tutorial is referring to the fact that you can set both the global and local costmaps to use rolling windows, effectively removing the need for an a priori map.

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So can I say if I use gmapping, I can ignore global & local costmaps? By the way, is costmap a priori static map? in your reply seems not...
sam gravatar image sam  ( 2011-07-05 06:07:07 -0600 )edit
You cannot ignore the costmaps - those are what aggregate sensor data for use by planning. Without them, you won't avoid obstacles! Static map vs. rolling window is basically just whether to seed the costmap with the a priori map (and have a fixed origin) or a small rolling window centered on the robot. Both of those options will have the configured sensors used to aggregate obstacle information.
Eric Perko gravatar image Eric Perko  ( 2011-07-05 06:19:40 -0600 )edit

So this would mean running the navigation stack without gmapping or amcl? And that in this case the transform map->odom doesn't exist? So then in what frame should the robot be given goals to navigate to? odom?

2ROS0 gravatar image 2ROS0  ( 2014-07-31 08:11:01 -0600 )edit

I'm interested to this topic too. any news?

alex920a gravatar image alex920a  ( 2014-09-05 12:24:10 -0600 )edit

to @2ROS0 : That does not mean navigate without AMCL. You will need AMCL anyway (but not gmapping).

My question is that: I have a priori map and I want to use it thru navigation. Sould I use "static map: true and rolling_window: false" in both local and global costmaps?

nightblue gravatar image nightblue  ( 2015-10-06 03:19:03 -0600 )edit

@2ROS0 , i think when running navigation without static map ,it doesn't need AMCL(AMCL is meant for localization only (based on a known map) and will not work with a non-static map).If you set fixed frame is odom, the goal is given in odom ,maybe its localization error is big.

jxl gravatar image jxl  ( 2015-11-09 21:41:54 -0600 )edit

@2ROS0 ,when you set fixed frame is map,you need SLAM like gmapping to publish the tree from map to odom , i think its localization error is smaller.

jxl gravatar image jxl  ( 2015-11-09 21:46:25 -0600 )edit

@nightblue you're right - I figured that out, this thread is a bit outdated. As for your question - the normal trend is to use rolling_window: true for local costmap since by definition that map is used for collision checking with the immediate robot.

2ROS0 gravatar image 2ROS0  ( 2015-11-17 23:18:03 -0600 )edit

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Asked: 2011-07-05 03:22:43 -0600

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Last updated: Jul 05 '11